Research On Robot Operation Of Outsole Trimming In Continuous Injection Shoemaking Line

With the continues development of technology,Intelligent technology persistent to impact traditional manufacturing.As a traditional industry,the footwear industry requires a large amount of labor and the production technology is relatively backward,and the level of automation is low.So there is an urgent need to introduce and develop intelligent shoe production lines.As an important process in the production of injectionmolded shoes,there are few domestic shoe enterprises that have conducted research on the automatic cutting of the outsole,and most of them still use the manual cutting method.For the sake of boosting the efficiency and quality of shoe outsole trimming,and the competitiveness of companies,this project designed a robot automatic trimming instead of manual trimming solution to achieve the intelligence of injection molding shoe outsole trimming,and the effect is very good in the experiment.The specific research on this topic is as follows:(1)In the light of demand for actual shoe outsole trimming,the design of the threedimensional model of the trimming system is completed.According to the operation object,design the end actuator of the robot mechanical clamping jaws,so as to complete the gripping of the shoe last,and select the cylinder diameter according to the required force,and finally analyze the designed mechanism.(2)To describe the positional description of the trimming robot by mathematical methods,to establish the kinematic model by using the improved D-H method combined with its actual parameters,to facilitate the analysis and derivation of its forward and reverse kinematics,and to verify it by Matlab simulation.The tangent trajectory points are extracted by means of teach-in,and the tangent trajectory is obtained by interpolation fitting of the extracted points to the trajectory points.Compare different interpolation algorithms for the tangent trajectory curve,compare the results of different interpolation,and finally choose the non-uniform seventh B-sample curve,which can get the continuous and smooth tangent trajectory;According to the timeenergy-impact of trimming operation,the improved non-dominated sorting genetic algorithm is used to optimize it,so that the effect of trimming operation reaches the best.(3)According to the trimming plan,select the appropriate hardware,assemble the trimming worktable,and design the control program of the entire trimming process,and use software simulation for the design scheme.and finally the trimming experiment on the constructed experimental platform to verify the whole trimming system.Through the design and experiments of the whole sole trimming system,the correctness of the trimming scheme and the correctness of the trimming trajectory interpolation algorithm and optimization algorithm are proved based on the experimental results.Through the experiments,it can be concluded that the robot cutting trajectory is accurate and the motion is smooth,and the qualified shoe outsole is obtained,which meets the actual shoe outsole cutting production operation requirements.